A dual-arm palletizing robot

Abstract

The application discloses a double-arm stacking robot, and relates to the technical field of stacking robots, which comprises a fixed base, a rotary lifting mechanism, a multi-axis moving mechanism, a rotary adjusting mechanism and two sets of clamping jaw assemblies. The fixed base is used for fixedly supporting the whole robot. The rotary lifting mechanism can rotate around the fixed base and has a vertical lifting adjusting function. Through the work station partition design of the clamping area and the stacking area, the double-arm 180-degree fixed-angle rotary reciprocating cycle cooperative work logic is matched, the parallel work mode of one set of clamping jaw stacking and another set of clamping jaw synchronous clamping is realized, the invalid work time of the traditional single-arm robot is completely eliminated, and the stacking work efficiency is greatly improved. Meanwhile, in combination with the adjustable structure of the clamping jaw angle and spacing, full-dimension accurate adjustment of goods clamping and stacking is realized, the motion flexibility and stacking precision are improved, and the problems of unstable stacking and large accumulated error of the existing equipment are effectively solved.

Description

Technical Field

[0001] This invention relates to the field of palletizing robot technology, specifically a dual-arm palletizing robot. Background Technology

[0002] In modern manufacturing, logistics and warehousing, palletizing is a core process in the storage and transfer of goods. Its level of automation directly affects production efficiency, warehouse space utilization and operational safety. As industrial automation iterates towards flexibility and efficiency, traditional manual palletizing methods can no longer meet the needs of large-scale, high-speed production. Palletizing robots are gradually replacing manual labor and have become the core equipment for realizing the automation of palletizing operations. They are widely used in many industries such as food and beverage, chemical, building materials and logistics.

[0003] Currently, palletizing robots on the market are mainly divided into two categories: single-arm palletizing robots and dual-arm palletizing robots. Among them, single-arm palletizing robots are still the most widely used type due to their simple structure and low cost. However, this type of robot has obvious technical bottlenecks: its gripper needs to complete a single cycle of "grabbing goods - moving to the palletizing area - placing goods - returning to the gripping area" in sequence. During the movement, placement and return of the gripper, the gripping area is idle, resulting in a lot of ineffective operation time, which makes it difficult to improve palletizing efficiency and cannot meet the needs of high-capacity production lines. At the same time, the single-arm structure has limited degrees of freedom of movement. When facing goods of different specifications and placement requirements, it lacks the flexibility to adjust, which can easily lead to problems such as palletizing misalignment and unstable stacking. Moreover, the single-arm load is limited, making it difficult to adapt to the palletizing needs of heavier goods, which greatly limits the applicable scenarios.

[0004] To address the low efficiency of single-arm palletizing robots, some companies have begun developing dual-arm palletizing robots. However, existing dual-arm palletizing robots still have many shortcomings and fail to fully leverage the advantages of collaborative operation. Most existing dual-arm palletizing robots are simply physical superpositions of two single arms, lacking unified collaborative control logic. The movements of the two grippers lack precise coordination, often resulting in problems such as motion interference and excessively long waiting times. They cannot achieve the efficient collaborative mode of "one gripper palletizing while the other grips simultaneously picking up," thus failing to effectively shorten ineffective operation time and failing to fully utilize the advantages of collaborative operation.

[0005] In addition, existing palletizing robots generally suffer from insufficient adaptability and limited intelligence. When faced with the production needs of small batches and multiple varieties, they often need to be stopped for reprogramming and teaching, which leads to production line stagnation and affects production efficiency. At the same time, their motion accuracy and stability need to be improved. They are prone to cumulative errors in long-term, high-frequency operations, which leads to a decline in palletizing quality and even safety hazards such as goods tipping over. They cannot meet the requirements of high-precision and high-stability palletizing operations. Summary of the Invention

[0006] Therefore, the purpose of this invention is to provide a dual-arm palletizing robot to solve the technical problems mentioned in the background art.

[0007] To achieve the above objectives, the present invention provides the following technical solution: a dual-arm palletizing robot, comprising a fixed base, a rotating lifting mechanism, a multi-axis moving mechanism, a rotating adjustment mechanism, and two sets of gripper assemblies; The fixed base is used to fix and support the robot as a whole. The rotating lifting mechanism can rotate around the fixed base in a ring and has a vertical lifting adjustment function. It is used to realize the 180° fixed angle rotation switching and height adjustment of the gripper assembly in the gripping area and the palletizing area. The multi-axis moving mechanism is connected to the rotary lifting mechanism and has a horizontal two-way linear movement adjustment function, which is used to drive the gripper assembly to make precise position adjustments in the horizontal direction; the rotary adjustment mechanism is connected to the multi-axis moving mechanism and is used to drive the gripper assembly to make angle rotation adjustments to adapt to the gripping and stacking requirements of goods at different angles. The rotary lifting mechanism includes a Z-axis rotary lifting arm, a Z-axis sliding frame, and a Z-axis lifting drive module; The Z-axis rotary lifting arm is rotatably connected to the fixed base, the Z-axis lifting drive module is set on the top of the Z-axis rotary lifting arm, and the Z-axis sliding frame is connected to the Z-axis lifting drive module and can slide vertically along the Z-axis rotary lifting arm. The multi-axis moving mechanism includes an X-axis sliding frame, an X-axis drive module, a Y-axis sliding frame, and a Y-axis drive module; The X-axis drive module is mounted on the Z-axis sliding frame of the rotary lifting mechanism. The X-axis sliding frame is connected to the X-axis drive module and can slide horizontally in one direction along the Z-axis sliding frame. The Y-axis drive module is mounted on the X-axis sliding frame. The Y-axis sliding frame is connected to the Y-axis drive module and can slide horizontally in the other direction along the X-axis sliding frame. The rotary adjustment mechanism includes a rotary motor and a rotary frame. The rotary motor is fixedly mounted on the Y-axis sliding frame of the multi-axis moving mechanism. The rotary frame is connected to the output end of the rotary motor. The rotary motor can drive the rotary frame to rotate in a ring. The two sets of gripper assemblies are connected to the rotary adjustment mechanism and are equipped with a spacing adjustment module. The spacing adjustment module is used to adjust the relative spacing between the two sets of gripper assemblies to adapt to the gripping requirements of goods of different specifications. The two sets of gripper assemblies, together with the rotary lifting mechanism, the multi-axis moving mechanism and the rotary adjustment mechanism, realize a collaborative reciprocating cycle operation mode in which one set of gripper assemblies performs palletizing operations while the other set of gripper assemblies performs synchronous gripping operations. The gripper assembly consists of two sets of grippers that are slidably connected to the bottom of the rotating frame of the rotation adjustment mechanism. The spacing adjustment module is connected to the two sets of grippers in a transmission manner, which can drive the two sets of grippers to slide towards or away from each other along the rotating frame. The Z-axis lifting drive module is a linked drive structure, with its power output end fixedly connected to the Z-axis sliding frame. It is used to drive the Z-axis sliding frame to perform stable vertical lifting motion. The X-axis drive module and the Y-axis drive module are both ball screw slides, with their power output ends fixedly connected to the corresponding X-axis sliding frame and Y-axis sliding frame, respectively, to achieve precise linear movement in the horizontal direction. The rotary motor is either a servo motor or a stepper motor, and its output shaft is fixed coaxially with the rotating frame, which can realize the precise rotation of the rotating frame at a fixed angle; The spacing adjustment module is a screw slide structure, with its two power output ends connected to two sets of grippers respectively, which can realize the synchronous adjustment of the spacing between the two sets of grippers. A slewing bearing is provided between the Z-axis rotary lifting arm and the fixed base. The slewing bearing is used to realize the smooth circular rotation of the Z-axis rotary lifting arm around the fixed base and can withstand the combined radial and axial loads.

[0008] In summary, the present invention has the following main beneficial effects: 1. This invention, through the workstation partitioning design of the gripping area and the palletizing area, combined with the collaborative operation logic of the dual arms rotating 180° at a fixed angle and reciprocating, realizes a parallel operation mode in which one set of grippers palletizes while the other set of grippers grips synchronously, completely eliminating the ineffective operation time of traditional single-arm robots and greatly improving palletizing efficiency; at the same time, it adopts a multi-axis linkage motion mechanism design, combined with an adjustable gripper angle and spacing structure, to achieve full-dimensional precise adjustment of goods gripping and stacking, improving motion flexibility and palletizing accuracy, effectively solving the problems of unstable stacking and large cumulative errors in existing equipment, and the dual arms sharing the load improve the load-bearing capacity of the equipment; 2. This invention abandons the complex parallel structure of existing dual-arm robots and optimizes the overall structure through a modular multi-axis drive design. With unified collaborative control logic, it avoids interference between gripper movements in terms of space and timing, reducing equipment manufacturing costs and maintenance difficulty. At the same time, it can adapt to goods of different specifications and placement requirements without complex shutdown and reprogramming, improving the flexibility and adaptability of the equipment. It can be widely used in palletizing operations in many industries such as food and beverage, chemical, building materials, and logistics, meeting the needs of large-scale, high-speed, and high-precision production, and significantly improving the automation and intelligence level of palletizing operations. Attached Figure Description

[0009] Fig. 1 This is a schematic diagram of the overall structure of the present invention; Fig. 2 This is an enlarged view of a partial structure of the present invention; Fig. 3 This is a front view of the entire invention.

[0010] In the diagram: 1. Fixed base; 2. Z-axis rotating lifting arm; 3. Z-axis sliding frame; 4. Z-axis lifting drive module; 5. X-axis sliding frame; 6. X-axis drive module; 7. Y-axis sliding frame; 8. Y-axis drive module; 9. Rotary motor; 10. Rotating frame; 11. Gripper; 12. Spacing adjustment module. Detailed Implementation

[0011] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0012] The embodiments of the present invention will now be described.

[0013] Example like Figs. 1-3 As shown in the figure, this embodiment discloses a dual-arm palletizing robot, the specific structure and operation method of which are as follows: The dual-arm palletizing robot includes a fixed base 1, a Z-axis rotating lifting arm 2, a Z-axis sliding frame 3, a Z-axis lifting drive module 4, an X-axis sliding frame 5, an X-axis drive module 6, a Y-axis sliding frame 7, a Y-axis drive module 8, a rotary motor 9, a rotating frame 10, two sets of grippers 11, and a spacing adjustment module 12. The Z-axis rotating lifting arm 2, the Z-axis sliding frame 3, and the Z-axis lifting drive module 4 form a rotating lifting mechanism; the X-axis sliding frame 5, the X-axis drive module 6, the Y-axis sliding frame 7, and the Y-axis drive module 8 form a multi-axis movement mechanism; the rotary motor 9 and the rotating frame 10 form a rotating adjustment mechanism; and the two sets of grippers 11 and the spacing adjustment module 12 form a gripper assembly. The fixed base 1 serves as the overall support foundation for the robot, directly and fixedly connected to the ground to ensure the overall stability of the robot during operation. The bottom of the Z-axis rotary lifting arm 2 is rotatably connected to the fixed base 1 via a slewing bearing, enabling the Z-axis rotary lifting arm 2 to rotate smoothly in a ring around the fixed base 1. This slewing bearing can withstand combined radial and axial loads, adapting to the force requirements of the robot during operation. The Z-axis lifting drive module 4 is fixedly mounted on the top of the Z-axis rotary lifting arm 2. The Z-axis sliding frame 3 is fixedly connected to the power output end of the Z-axis lifting drive module 4, and the Z-axis sliding frame 3 slides in cooperation with the Z-axis rotary lifting arm 2. Under the drive of the Z-axis lifting drive module 4, the Z-axis sliding frame 3 can perform stable vertical lifting and lowering movements along the Z-axis rotary lifting arm 2. The X-axis drive module 6 is fixedly installed on the outer wall of the Z-axis sliding frame 3. The X-axis sliding frame 5 is fixedly connected to the power output end of the X-axis drive module 6, and the X-axis sliding frame 5 and the Z-axis sliding frame 3 are slidably engaged. Under the drive of the X-axis drive module 6, the X-axis sliding frame 5 can slide horizontally in a straight line along the Z-axis sliding frame 3. The Y-axis drive module 8 is fixedly installed at the end of the X-axis sliding frame 5. The Y-axis sliding frame 7 is fixedly connected to the power output end of the Y-axis drive module 8, and the Y-axis sliding frame 7 and the X-axis sliding frame 5 are slidably engaged. Under the drive of the Y-axis drive module 8, the Y-axis sliding frame 7 can slide horizontally in a straight line along the X-axis sliding frame 5 in the other direction. Through the cooperation of the X-axis drive module 6 and the Y-axis drive module 8, the bidirectional position adjustment of the multi-axis moving mechanism on the horizontal plane is realized. A rotary motor 9 is fixedly mounted on the top of the Y-axis sliding frame 7. The top of the rotating frame 10 is coaxially and fixedly connected to the output shaft of the rotary motor 9. The rotary motor 9 is a servo motor or a stepper motor, which can drive the rotating frame 10 to make a precise circular rotation at a certain angle. Two sets of grippers 11 are slidably connected to the bottom of the rotating frame 10, and the two sets of grippers 11 are symmetrically arranged along the length direction of the rotating frame 10. The spacing adjustment module 12 is fixedly installed on the bottom of the rotating frame 10, and the two power output ends of the spacing adjustment module 12 are respectively fixedly connected to the two sets of grippers 11 one by one. The spacing adjustment module 12 is a screw slide structure, which can drive the two sets of grippers 11 to slide synchronously in opposite directions or in opposite directions along the rotating frame 10, so as to realize the flexible adjustment of the relative spacing between the two sets of grippers 11. In this embodiment, the Z-axis lifting drive module 4 is a link drive structure, and the X-axis drive module 6 and the Y-axis drive module 8 are both lead screw slides. Through the precise cooperation of each drive module, stable and precise driving of each motion mechanism of the robot is achieved.

[0014] The working principle of this invention is as follows: When in use, firstly, independent gripping areas and palletizing areas are preset on both sides of the robot, corresponding to the working positions of the two sets of grippers 11 respectively, clearly dividing the work to avoid interference between actions and laying the foundation for efficient collaboration; Meanwhile, the robot is fixed to the ground by the fixed base 1, wherein the Z-axis rotating lifting arm 2 can rotate in a circle relative to the fixed base 1. At the same time, under the action of the Z-axis lifting drive module 4, the Z-axis sliding frame 3 can be vertically adjusted in the Z-axis direction along the Z-axis lifting drive module 4. An X-axis drive module 6 is installed on the outside of the Z-axis sliding frame 3. The X-axis drive module 6 can drive the X-axis sliding frame 5 to slide and adjust in the X direction on the Z-axis sliding frame 3. A Y-axis drive module 8 is installed on the X-axis slide 5, wherein the Y-axis drive module 8 can drive the Y-axis slide 7 to slide and adjust in the Y direction on the X-axis slide 5; A rotary motor 9 is installed on the top of the Y-axis sliding frame 7. The rotary motor 9 can drive the rotating frame 10 to rotate in a ring, thereby changing the angle of the two sets of grippers 11 to adapt to the state of the items at different angles. Two sets of grippers 11 are slidably connected to the bottom of the rotating frame 10. Both sets of grippers 11 are controlled and adjusted by the spacing adjustment module 12, so that the spacing between the two sets of grippers 11 can be adjusted to accommodate goods of different sizes. After the operation starts, the robot performs reciprocating cycle operations according to the preset collaborative logic. The first set of grippers 11 first completes the gripping action of the goods in the gripping area, then rotates 180 degrees clockwise around the fixed base 1, and moves precisely to the palletizing area. Then, through multi-directional movement adjustment, the posture and position of the goods are adjusted to complete the palletizing operation. While the first set of grippers 11 is performing the palletizing operation, the second set of grippers 11 moves synchronously to the gripping area to complete the gripping action of the next batch of goods, realizing the simultaneous operation of palletizing and gripping, completely eliminating the idle and ineffective operation time of the gripping area of ​​the single-arm robot, and greatly improving palletizing efficiency. After the first set of grippers 11 completes the palletizing operation, it rotates 180 degrees counterclockwise around the fixed base 1 and quickly returns to the gripping area to prepare for the next gripping. At this time, the second set of grippers 11 has completed the gripping of the goods and simultaneously rotates 180 degrees clockwise to the palletizing area. The above palletizing action is repeated, and the two sets of grippers 11 cycle back and forth until all the goods are palletized. In summary, this invention, through its partitioned design of the gripping and palletizing areas, coupled with the collaborative operation logic of "one set of grippers 11 palletizing while another set of grippers 11 grips simultaneously," completely changes the traditional single-loop "grip-palletize-return" mode of single-arm palletizing robots, solving the problem of idle gripping areas and enabling parallel gripping and palletizing actions. Simultaneously, the grippers 11 achieve rapid switching between the gripping and palletizing areas through 180° fixed-angle rotation, and the multi-axis linkage mechanism significantly shortens the adjustment time for the position and posture of the goods. The reciprocating cycle of the two sets of grippers 11 keeps the robot in an effective working state at all times. Compared to single-arm palletizing robots, palletizing efficiency is increased several times over, making it suitable for large-scale, high-paced production line requirements. The robot features a three-axis linkage structure: Z-axis rotation and lifting, X-axis horizontal movement, and Y-axis horizontal movement. Combined with the angle adjustment of the rotary motor and the clamping spacing adjustment module, this provides the gripper 11 with multi-dimensional, high-precision motion adjustment capabilities. It can precisely adjust the gripping posture, placement, and clamping force of the goods according to their specifications, the number of palletizing layers, and arrangement requirements. This solves the problems of limited motion freedom, easy palletizing misalignment, and unstable stacking found in existing palletizing robots. In long-term, high-frequency operations, precise control effectively reduces cumulative errors, improves palletizing quality, avoids the safety hazard of goods tipping over, and meets the requirements of high-precision, high-stability palletizing operations.

[0015] Although embodiments of the present invention have been shown and described, these specific embodiments are merely explanations of the invention and are not intended to limit it. The specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. After reading this specification, those skilled in the art may make modifications, substitutions, and variations to the embodiments as needed without departing from the principles and spirit of the invention, but such modifications, substitutions, and variations are protected by patent law as long as they are within the scope of the claims of the present invention.

Claims

1. A dual-arm palletizing robot, characterized in that, Includes a fixed base (1), a rotary lifting mechanism, a multi-axis moving mechanism, a rotary adjustment mechanism, and two sets of gripper assemblies; The fixed base (1) is used to fix and support the robot as a whole. The rotating lifting mechanism can rotate around the fixed base (1) in a ring and has a vertical lifting adjustment function. It is used to realize the 180° fixed angle rotation switching and height adjustment of the gripper assembly in the gripping area and the palletizing area. The multi-axis moving mechanism is connected to the rotary lifting mechanism and has a horizontal two-way linear movement adjustment function, which is used to drive the gripper assembly to make precise position adjustments in the horizontal direction; the rotary adjustment mechanism is connected to the multi-axis moving mechanism and is used to drive the gripper assembly to make angle rotation adjustments to adapt to the gripping and stacking requirements of goods at different angles. The two sets of gripper assemblies are connected to the rotary adjustment mechanism and are equipped with a spacing adjustment module (12). The spacing adjustment module (12) is used to adjust the relative spacing between the two sets of gripper assemblies to adapt to the gripping requirements of goods of different specifications. The two sets of gripper assemblies work together with the rotary lifting mechanism, the multi-axis moving mechanism and the rotary adjustment mechanism to realize the collaborative reciprocating cycle operation mode of the other set of gripper assemblies simultaneously gripping when one set of gripper assemblies is stacking.

2. The dual-arm palletizing robot according to claim 1, characterized in that: The rotary lifting mechanism includes a Z-axis rotary lifting arm (2), a Z-axis sliding frame (3), and a Z-axis lifting drive module (4). The Z-axis rotating lifting arm (2) is rotatably connected to the fixed base (1), the Z-axis lifting drive module (4) is set on the top of the Z-axis rotating lifting arm (2), the Z-axis sliding frame (3) is connected to the Z-axis lifting drive module (4) and can slide vertically along the Z-axis rotating lifting arm (2).

3. The dual-arm palletizing robot according to claim 1, characterized in that: The multi-axis moving mechanism includes an X-axis sliding frame (5), an X-axis drive module (6), a Y-axis sliding frame (7), and a Y-axis drive module (8). The X-axis drive module (6) is mounted on the Z-axis sliding frame (3) of the rotary lifting mechanism. The X-axis sliding frame (5) is connected to the X-axis drive module (6) and can slide horizontally in one direction along the Z-axis sliding frame (3). The Y-axis drive module (8) is mounted on the X-axis slide frame (5). The Y-axis slide frame (7) is connected to the Y-axis drive module (8) and can slide horizontally in the other direction along the X-axis slide frame (5).

4. The dual-arm palletizing robot according to claim 1, characterized in that: The rotation adjustment mechanism includes a rotary motor (9) and a rotating frame (10). The rotary motor (9) is fixedly mounted on the Y-axis sliding frame (7) of the multi-axis moving mechanism. The rotating frame (10) is connected to the output end of the rotary motor (9) and the rotary motor (9) can drive the rotating frame (10) to rotate in a ring.

5. The dual-arm palletizing robot according to claim 1, characterized in that: The gripper assembly is a gripper (11). Two sets of grippers (11) are slidably connected to the bottom of the rotating frame (10) of the rotation adjustment mechanism. The spacing adjustment module (12) is connected to the two sets of grippers (11) in a transmission manner, and can drive the two sets of grippers (11) to slide towards or away from each other along the rotating frame (10).

6. The dual-arm palletizing robot according to claim 2, characterized in that: The Z-axis lifting drive module (4) is a linked drive structure, and its power output end is fixedly connected to the Z-axis sliding frame (3) to drive the Z-axis sliding frame (3) to make stable vertical lifting motion.

7. The dual-arm palletizing robot according to claim 3, characterized in that: The X-axis drive module (6) and Y-axis drive module (8) are both lead screw slides, and their power output ends are fixedly connected to the corresponding X-axis slide frame (5) and Y-axis slide frame (7) respectively, for the purpose of achieving precise linear movement in the horizontal direction.

8. The dual-arm palletizing robot according to claim 4, characterized in that: The rotary motor (9) is a servo motor or a stepper motor, and its output shaft is fixed coaxially with the rotating frame (10), which can realize the precise rotation of the rotating frame (10) at a fixed angle.

9. The dual-arm palletizing robot according to claim 5, characterized in that: The spacing adjustment module (12) is a screw slide structure, and its two power output ends are respectively connected to two sets of grippers (11) one by one, which can realize the synchronous adjustment of the spacing between the two sets of grippers (11).

10. The dual-arm palletizing robot according to claim 2, characterized in that: A slewing bearing is provided between the Z-axis rotary lifting arm (2) and the fixed base (1). The slewing bearing is used to realize the smooth circular rotation of the Z-axis rotary lifting arm (2) around the fixed base (1) and can withstand the combined radial and axial loads.

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